CN104363676B - A kind of LED operation shadowless lamp systems of the permanent photocontrol of fully-automatic intelligent - Google Patents
A kind of LED operation shadowless lamp systems of the permanent photocontrol of fully-automatic intelligent Download PDFInfo
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Abstract
The invention discloses a kind of LED operation shadowless lamp systems of the permanent photocontrol of fully-automatic intelligent；System obtains the video image in area to be illuminated domain by CMOS camera, denoising is carried out to image by image pre-processing module and enhancing is handled, data feeding video frame images memory cell storage after processing, then fuzzy video image procossing is carried out, the monochrome information of illumination region and the colouring information of illuminated object are obtained by image processing algorithm, and the shelter occurred in Real-time segmentation processing image, obtain the shadow region of shelter formation.Complete after above-mentioned processing procedure, intelligent controller will be according to the information of acquisition, the driving current value for the LED/light source that need to be adjusted is extrapolated by fuzzy neural network, LED constant-current driver is transmitted these information to again, corresponding LED brightness and colour temperature is adjusted, so as to eliminate shade, make the uniform-illumination, constant of illumination region.
Description
Technical field
The present invention relates to a kind of medical dedicated illumination equipment, more particularly to a kind of permanent photocontrol of fully-automatic intelligent
LED operation shadowless lamp systems.
Background technology
Operation shadowless lamp is Special surgical lighting apparatus important in hospital surgical room, so the main property of operation shadowless lamp
Energy index, improvement of functional character etc., it is particularly significant to improving success rate, efficiency for performing the operation etc..According to long term medical, mechanism faces
Various types of shadowless lamps of bed application, by light source and performance, the development course of shadowless lamp can be divided into three phases by us：
First stage, " first generation operation shadowless lamp " is also referred to as can be described as, using traditional halogen bulb, Xe lamp bulb as light source
The operation shadowless lamp epoch, i.e. thermal light source epoch, this stage continued to use for a long time.But due to halogen bulb, Xe lamp bulb
Itself intrinsic significant deficiency, such as heat radiation, performance indications are low, cost is high, short life, and medical profession is in the urgent need to improving.
Second stage：Operation shadowless lamp epoch by light source of LED, i.e. cold light source epoch, we can be referred to as " the second generation
Operation shadowless lamp ", this stage is just to rise in recent years, and with the continuous improvement of LED technology and light efficiency, LED is special
It is that operation shadowless lamp was just fairly obvious compared to traditional shadowless lamp advantage in recent years；Such as：Cold light source heat radiation is extremely low, energy-conservation, ring
Protect, the advantages of safe and reliable property is high, practical, performance indications are high.Therefore, replaced using LED green light sources using Halogen lamp LED as generation
The conventional light source operation shadowless lamp of table by be surgical light light source development trend.
Phase III：The digitizing of LED/light source, intelligent operation shadowless lamp epoch, we are also referred to as " third generation hand
Art shadowless lamp ".Because although LED/light source solves the problems such as heat radiation, energy-saving and environmental protection, but found during clinical operation by
Blocked in hot spot and cause the factors such as illuminance is not enough, light distribution is uneven, be all using manual adjustment shadowless lamp height and
Orientation is solved, this manual adjustment mode not only it is inconvenient again not precisely, influence surgical quality.Can be certainly so active demand is a kind of
The shadowless lamp of the digital monitoring of dynamic light modulation and timely light filling.
Traditional operation shadowless lamp is mostly using Halogen lamp LED as light source, and it is to be reflexed to light by polygonal mirror
Operative site.The halogen light source service life that this operation shadowless lamp is used is short, containing ultraviolet to infrared in the spectrum sent
Light, for a long time using this operating lamp can make patient produce it is scorching hot with it is uncomfortable, or even patient skin and operative site meeting
Damage.LED/light source is as a kind of cold light source, and light-source temperature is low, and little power consumption, service life is very long, and colour temperature is also adjustable, relatively
There is very big advantage in traditional halogen light source, for these reasons, replace conventional halogen lamp source with LED/light source at present
Basic configuration as operation shadowless lamp of new generation.
The brightness of operation shadowless lamp and quality without performances such as shadow degree are directly connected to surgical quality and patient health.It is existing
Operation shadowless lamp more than using manual type regulation, this regulation is that operator artificially adjusts according to the fitness of itself,
The degree of accuracy of brightness is difficult to ensure that there is significant limitation, and can its light position and brightness obtain accurately, timely adjust
It is whole to have influence on being normally carried out for operation.In addition during operation, body, head, hand and the apparatus of doctor can be caused to operative site
Block, form shade, if surgical quality will be influenceed not in time by eliminating.Although existing shadowless lamp is furnished with brightness regulator,
Brightness regulation can be carried out, it can however not shade is completely eliminated, the influence of shade can only be weakened；Meanwhile, this regulation is by behaviour
What author manually completed, with certain ambiguity, real-time, accuracy are not high enough, and easily cause surgical environments pollution, shadow
Operation is rung to be normally carried out.At present, the report of the real-time technology with an automatic light meter of operation shadowless lamp is still rare.As global medical is set
It is standby digitize, information-based, intelligentized development, the automatic digital light regulating technology of operation shadowless lamp just progressively grinds as one
Study carefully focus.
Have that light source caloric value is big, power is high for current common shadowless lamp technology, short life, without shadow effect is high, peace
Full poor reliability, the problems such as adjust frequent, a kind of new lighting source of active demand and light regulating technology substitute traditional without shadow
Lamp.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of LED operation shadowless lamps system of the permanent photocontrol of fully-automatic intelligent
System.The problems such as system can solve the problem that regulation quality present in existing technology is poor, grasp cumbersome, realize full-automatic light regulator and
Illuminance is constant, and the full-automatic intelligent function without shadow Yu accurate light filling.
In order to solve the above-mentioned technical problem, performed the operation the invention provides a kind of LED of the permanent photocontrol of fully-automatic intelligent without shadow
Lamp system, it uses video sensor technology to realize the closed-loop control of system；System includes：CMOS camera, ultrasonic range finder,
Image pre-processing module, video frame images memory cell, fuzzy video image processing module, intelligent controller, constant-current controller,
LED light source component, the unit module such as controllor for step-by-step motor；System obtains the video figure in area to be illuminated domain by CMOS camera
Picture, carries out denoising to image by image pre-processing module and enhancing is handled, the data feeding video frame images storage after processing
Unit deposit, then carry out fuzzy video image procossing, by image processing algorithm obtain illumination region monochrome information and by
According to the shelter occurred in the colouring information of object, and Real-time segmentation processing image, the shadow region of shelter formation is obtained.It is complete
Into after above-mentioned processing procedure, intelligent controller will extrapolate the LED that need to be adjusted according to the information of acquisition by fuzzy neural network
The driving current value of light source, then LED constant-current driver is transmitted these information to, corresponding LED brightness and colour temperature are adjusted, so that
Reach eliminate shade, the uniform-illumination that makes illumination region, constant mesh.
A kind of LED operation shadowless lamps system of the permanent photocontrol of fully-automatic intelligent of the present invention also connects with step motor control
Mouthful, stepper motor can be connected the position of LED is controlled.The locus of LED can be according to the distribution of focal beam spot position
Put carry out dynamic regulation, intelligent controller detects the distance of lamp panel distance from bottom working face by ultrasonic range finder, and according to
The distance calculates the focusing angle of LED, by changing angle of the LED axis with respect to illumination region axis, can make lamp
Disk light beam is focused on the central area of illumination region all the time.
A kind of LED operation shadowless lamps system of the permanent photocontrol of fully-automatic intelligent of the present invention also has intelligentized man-machine interaction
Control interface, the mode of operation of shadowless lamp can be set by touch keyboard user, and mode of operation is divided into mode standard and made by oneself
Adopted pattern.Mode standard is the light illumination mode defined according to pre-designed several surgical scenes, and user need to only select to fit
The pattern of oneself is closed, system will be controlled by the pattern automatically；Self-defined pattern can be any to set according to the hobby of user
Light illumination mode, the pattern that system can just be set by user is controlled.The operation of user can be shown by LCD display,
The information such as illumination, colourity in the course of work also can in real time be shown by LCD display.
Wherein, in the system：
(1) video acquisition is processed as：
V4L (Video4Linux abbreviation) is that it is pin on video equipment, the kernel-driven of audio frequency apparatus in Linux
A series of interface functions (API), operation, control of the user to these equipment are provided to the application programming of video and audio equipment
The API that it need to be called to provide.These video equipments include TV cards, capure card and USB popular on market today and taken the photograph
As first-class.For USB port camera, the I/O operation interface function for needing offer basic in its driver, i.e. open (),
Read (), write (), close () realization.
Obtaining the mode of view data has two kinds, directly reads equipment using read and mmap side is mapped using internal memory
Formula.Read operation principle is exactly that data are read from kernel buffers, is then put into internal memory；Using mmap method just
It is that device file is mapped directly in internal memory, has thus got around the buffering area of kernel, each process can be as accesses internal memory
File is easily equally accessed, I/O access is accelerated.The method that the system is mapped using mmap obtains camera data,
The collection of digital video image is realized with V4L technologies, the flow of V4L video programmings and the flow of common file operation are basic
Unanimously.
(2) video image, which is pre-processed, is：
It is relative to suppress those uninterested brightness sections in order to protrude brightness section interested, improve point of image
Effect is cut, enhancing processing need to be carried out to image.Enhancing picture contrast can improve the contrast in image between each several part, favorably
In the recognition effect for improving objects in images, the system carries out enhancing processing using piecewise linear transform, if f (x, y) represents former
Image, tonal range is [a, b], it is desirable to which image g (x, y) tonal range extends to [c, d] after conversion, then grey linear transformation
Mathematic(al) representation is as follows：
(3) the Computer Vision algorithm based on fuzzy logic is：
The useful information obtained by image is exactly the shadow region that shelter is produced on working face, and image is intrinsic
Inherent ambiguity brings many difficulties to image segmentation, but provides for the application of fuzzy set and Systems Theory and use force it
Ground, so we are understood using fuzzy set and Systems Theory, represented, handled in the present invention and object image is blocked in segmentation.
Piece image possesses different characteristic values, and the present invention is split by gradation of image to image.For a width M ×
N images, its gray level is 0~255.Pre-segmentation is carried out to image by original partitioning algorithm first, carried on the back by pre-segmentation
Scape (Background Region, BR) and target area (0bject Region, OR).Randomly select limited background and target
Area pixel point, calculates its gray average with reference to grey level histogram, obtainsWithRespectively background and target area threshold value.Obtain
Target area OR, fuzzy region (FuzzyRegion, FR) and background area BR tonal range isAnd
Our purpose is to be split the shelter in image and background, so we need image being divided into determination
Background area and target area.Reference background region and object reference region are considered as on gray scale collection domain [0,1 ..., F-1]
Two fuzzy subsets.The method of description fuzziness has a lot, for example quantity area method, correlation coefficient process, minimax method, absolute
Value index number method, nonparametric method etc..The system select Study on similar degree method in apart from exchange premium degree, wherein setting domain U={ x1, x2...,
xn, to arbitrary fuzzy set A, fuzziness is：
The fuzziness that can calculate target area OR and background area BR by the formula is LBRAnd LOR。
To in confusion regionIt is split into scopeWithIt is added separately to OR and BR
In, gfFor gFRThe partition value of set, obtains two new fuzzy subsets, is designated as OR ' and BR '：
New L is calculated by formula (1)OR′And LBR′.In the case of new element is added in fuzzy subset, its fuzziness letter
Numerical value can become (i.e. L greatlyOR′>LORLBR′>LBR).So, by its respectively with LORAnd LBRNormalize, obtain two ambiguities
The factor, is designated as：
By comparing η1And η2Size, judge gFRAddition be that influence to background or target area is bigger.If η1>
η2, then gFRBigger is influenceed on target area fuzzy subset, i.e., it is higher with target area similarity, so should be by gFRIt is included in background area
The fuzzy set in domain；Conversely, then by gFRIt is included in the fuzzy set for blocking object area.Gray scale to fuzzy region does same processing, then can
There is a certain gray value gd, make η1(gd)=η2(gd), then gdFor segmentation threshold.
(4) intelligent control algorithm is：
The system proposes a kind of visual pattern target identification method based on fuzzy neural network.This method is with fuzzy system
Based on model, the scene that the target occlusion thing that identification is needed in every frame video image is constituted with background regards a fuzzy system as
System, with the location and shape information of the moving target extracted in each frame as characteristic vector, using this feature vector as fuzzy
The input of clustering neural network (FCNN) system, using fuzzy clustering identification algorithm, builds a kind of light distribution that can be to LED
Fuzzy Clustering Neural Network (FCNN) model mapped, the output to system is predicted, and provides one group in current scene
The optimization control parameter of LED/light source light distribution and position distribution under situation, by adjust LED lamp panel light source exposure intensity and
Angle, realizes the permanent light in irradiation working region, the purpose without shadow.
Fuzzy Clustering Neural Network FCNN structure is as shown in Figure 3.Whole system is made up of two parts：Part I is
Fuzzy Classifier, it is made up of three layers of BP networks.Input layer is made up of P node, P component of correspondence input vector；
Hidden layer is made up of C node, and its i-th of node represents the deviation between input vector and ith cluster center, their transmission
Function is：
Output layer is also made up of C node, and the output of each node represents degree of membership of the input vector to a certain classification.It is defeated
Connection weight between ingress and hidden node represents the cluster centre v of a certain classi, its needs is carried out excellent by learning algorithm
Change；Used between hidden node and output node without weighting connection, its output with each sub-network collectively constitutes third layer node
Input.Part II is made up of C sub- networks, and each sub-network is made up of a double-layer network, connection weight matrix wi=
(wi1, wi2, ..., wiQ)T, wherein wij=(wj0 (i), wj1 (i), wj2 (i)..., wjP (i)), input vector θk=(1, xk1, xk2...,
xkP)T, i-th of sub-network be output as：yi k=wiθk, it completes the consequent output of the i-th rule-like of k-th of input sample
Calculate, system is always output as
System exports ykThe distribution map for providing LED light source array in present image scene is mapped, mapping reflection LED light
Source will could realize that the illumination for making area to be illuminated domain reaches defined value and keeps constant with what kind of Luminance Distribution, while eliminate again
The purpose of workspace shade, exports ykLED/light source driving current and LED lamp panel crevice projection angle will be controlled as regulated quantity.
After the system, its advantage is：
1st, the present invention utilizes informationization technology means, the illumination and control of the thermal light source that broken traditions using LED cold light source technologies
Molding formula, is built by modern information technologies such as visual pattern treatment technology, Fuzzy Neural Network Theory, Computer Control Technologies
A set of new, intelligent shadowless lamp system, it is intended to solve present in existing technology in-convenience in use, regulating effect is paid no attention to
The problems such as thinking.
2nd, the illuminance on operation facular area surface is constant：Because operation shadowless lamp light intensity is larger, (spot center illumination is 10
Ten thousand LEX or so), operating time is long, so in surgical procedure, the light intensity on hot spot surface causes hot spot surface because blocking or moving
Brightness it is flickering, be operator's labor regard, the key factor of kopiopia, have a strong impact on surgical quality even success rate.
This intelligent shadowless lamp fully applies HGB intelligent constant photocontrol technologies, can precisely accomplish：No matter operator or shadowless lamp
How to shift or partial occlusion, can be but automatically adjusted to all the time in the light spot illumination of lesions position invariable.
3rd, Intelligent supplemental lighting and focusing：When operating lamp by doctor head or it is other block when, its LED lamp panel associated can be automatic
Irradiating angle and position are adjusted, association LED module meeting automatic regulating lightness corrects light spot illumination and focal position automatically, and
When compensation visual area illumination loss, keep hot spot equilibrium degree and illumination it is constant.
This intelligent shadowless lamp application blurred vision Image sensing and treatment technology, are provided preferably without shadow rate, band for operation
Carry out perfect surgical light impression, make light more comfortable, the visual fatigue of doctor is reduced to greatest extent, operation matter is improved
Amount.
4th, light is super balanced：The lamp bead of general LED shadowless lamps is all distributed across lamp panel bottom surface, luminous backward in lattice structure
Outer direct projection；Light juxtaposition is extremely unbalanced, forms spatiality dazzle, causes light dazzling, the reduction of patient's visual acuity, always
Depending on etc..This intelligent shadowless lamp application LGT light curtain lamp panel patented technology, lamp panel draws technology design using the luminous light in side, is formed
Light curtain effect, eliminates timeliness dazzle, makes patient's eyes nature, loosens.
5th, system has used blurred vision detection technique to solve the problems, such as the identification of illumination region target, by setting up vision figure
The target area segmentation detection model of picture, control prescribed space shelter locus is analyzed and judged, is partitioned into shadow region
The position in domain, obtains the illumination and chrominance information of illumination region, then these data are sent into fuzzy neural network, sets up vision empty
Between scene mode to LED/light source driving current mapping model, model output control parameter pass through constant-flow driver control again
Make corresponding LED/light source luminous intensity, thus realize regulation shadowless lamp in real time brightness so that working region illumination keep it is uniform,
Purpose constant, without shadow.
6th, the present invention obtains the video image of working region by CMOS minisize pick-up heads, by carrying out mould to video image
Signature analysis is pasted, the shadow region of shelter formation is handled, tracks and split in real time, the position and workspace of shadow region is obtained
The distributed intelligence of illumination and colourity in domain, by the good fuzzy neural network model of training in advance, maps out optimal LED/light source
The light distribution of array and the azimuthal data parameters of irradiation, the driving that obtains the numbering for the LED/light source that need to be adjusted and need to adjust
Current value, then transmit these information to LED constant current controller and the corresponding LED of controllor for step-by-step motor regulation brightness and LED
The space illumination angle of lamp panel, to reach elimination shade, make working face intensity of illumination distribution uniform, constant.
7th, the present invention with fuzzy logic theory, video image processing technology and neutral net intellectualized technology by realizing
Shadowless lamp it is with an automatic light meter, the design philosophy of traditional shadowless lamp is there occurs fundamental change, traditional shadowless lamp broken away from one stroke and has been deposited
Five big weak points：
1. it is not high without shadow effect.The angle that light source is reflected or irradiated the more, obtained after convergence without shadow effect better,
And the hot spot being combined into 12 single light source bulb irradiations, its shadow effect that disappears is surely not too preferable, such as increases radiation source again,
Clearly it is difficult to walk；
2. structure very complicated.12 lamp holders are with 3 transformer-supplieds, the complexity of its structure, and the huge of profile is to think
And know；
3. security reliability is poor.It is that several more bulbs and transformer greatly improve the rate of breakdown of complete machine, once
One breaks down, and whole shadowless lamp performance impairment is bad；
4. adjust frequent and dull laborious.Because spot diameter is small, thickness of thin, the change palpus with operation face and depth
Constantly to focus, positioning could obtain optimal illumination, this just causes excessive infection chance and fatigue to patient, influence to perform the operation
Quality；
5. to the thermal pollution of surgical environments.The electric elements such as more bulb and transformer, make caloric value increase, though there is wind
Fan radiating, but the difficult temperature rise eliminated around patient eventually, make surgical environments degenerate；
8th, this project utilizes informationization technology means, the illumination and control of the thermal light source that broken traditions using LED cold light source technologies
Molding formula, is built by modern information technologies such as visual pattern treatment technology, Fuzzy Neural Network Theory, Computer Control Technologies
A set of new, intelligent shadowless lamp system, makes lighting for medical use technology march toward digitlization, information-based and intellectualization times.
9th, this control system has following features：
1) the intelligent dimming control system based on blurred vision treatment technology is established, is realized to the automatic of working region
Brightness adjustment control, makes the illumination of illumination region constant in setting value；
2) Real-time segmentation to the moving target in working region and positioning are realized, effective detection and shelter can be judged
Position and region, so that shade is completely eliminated, realize shadowless lamp truly；
3) the characteristics of having workspace illumination continuously adjustabe, user can arbitrarily set a brightness value, and system just can be certainly
Motion tracking is simultaneously locked on the brightness value of setting；
4) the design is a kind of intelligentized automatic control system, and user need to only pre-set control parameter, just can be real
Now whole control process, manual intervention is not required to during regulation；
5) use Techniques of Automatic Focusing, can according to shadowless lamp with by according to target range change, adjust automatically lighting angle,
Realize that hot spot auto-polymerization, to the purpose of working face, is not required to manually adjust；
6) there is intelligent man-machine interaction interface, all functions are selected, parameter input can pass through touch-screen or key
Disk is configured, and is shown to user by LCD screen, and the brightness value of working environment and setting value can also be shown in screen in real time
On；
10th, in addition, the design also has, adjustable range is wide, and the high advantage of degree of regulation can continuously be put down in adjustable range
Sliding carry out brightness regulation, the step pitch of regulation is small, flicker free and jump, and the hot spot uniformity is high, with compared with top adjustment quality.
Brief description of the drawings
Fig. 1 is LED shadowless lamp light adjusting controller structured flowcharts.
Fig. 2 is video acquisition process chart.
Fig. 3 is Fuzzy Clustering Neural Network FCNN structure charts.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description, it is impossible to is not understood as to the present invention's
Limitation；
According to Fig. 1, Fig. 2 and Fig. 3, image is the visual basis in the human perception world, but passes through vision in the mankind
In the great amount of images information of acquisition, required for not all information content is all us, so needing to divide the image into
Several regions specific, with unique properties.Image is split, and exactly divides the image into that several are specific, with uniqueness
The region of property simultaneously extracts interesting target.Seek to find the position and area for the shelter for causing shade for shadowless lamp
Domain, then carries out the characteristic information that effective segmentation obtains shelter, and rational segmentation result preferably can be found in image
Useful information is simultaneously conveniently handled it.
(1) video acquisition is handled
V4L (Video4Linux abbreviation) is that it is pin on video equipment, the kernel-driven of audio frequency apparatus in Linux
A series of interface functions (API), operation, control of the user to these equipment are provided to the application programming of video and audio equipment
The API that it need to be called to provide.These video equipments include TV cards, capure card and USB popular on market today and taken the photograph
As first-class.For USB port camera, the I/O operation interface function for needing offer basic in its driver, i.e. open (),
Read (), write (), close () realization.
Obtaining the mode of view data has two kinds, directly reads equipment using read and mmap side is mapped using internal memory
Formula.Read operation principle is exactly that data are read from kernel buffers, is then put into internal memory；Using mmap method just
It is that device file is mapped directly in internal memory, has thus got around the buffering area of kernel, each process can be as accesses internal memory
File is easily equally accessed, I/O access is accelerated.The method that the system is mapped using mmap obtains camera data.
The flow of V4L video programmings and the flow of common file operation are basically identical, and idiographic flow is as shown in Figure 2.
(2) video image is pre-processed
It is relative to suppress those uninterested brightness sections in order to protrude brightness section interested, improve point of image
Effect is cut, enhancing processing need to be carried out to image.Enhancing picture contrast can improve the contrast in image between each several part, favorably
In the recognition effect for improving objects in images, the system carries out enhancing processing using piecewise linear transform, if f (x, y) represents former
Image, tonal range is [a, b], it is desirable to which image g (x, y) tonal range extends to [c, d] after conversion, then grey linear transformation
Mathematic(al) representation is as follows：
(3) the Computer Vision algorithm based on fuzzy logic
The useful information obtained by image is exactly the shadow region that shelter is produced on working face, and image is intrinsic
Inherent ambiguity brings many difficulties to image segmentation, but provides for the application of fuzzy set and Systems Theory and use force it
Ground, so we are understood using fuzzy set and Systems Theory, represented, handled in the present invention and object image is blocked in segmentation.
Piece image possesses different characteristic values, and the present invention is split by gradation of image to image.For a width M ×
N images, its gray level is 0~255.Pre-segmentation is carried out to image by original partitioning algorithm first, carried on the back by pre-segmentation
Scape (Background Region, BR) and target area (0bject Region, OR).Randomly select limited background and target
Area pixel point, calculates its gray average with reference to grey level histogram, obtainsWithRespectively background and target area threshold value.Obtain
Target area OR is obtained, fuzzy region (Fuzzy Region, FR) and background area BR tonal range are
And
Our purpose is to be split the shelter in image and background, so we need image being divided into determination
Background area and target area.Reference background region and object reference region are considered as on gray scale collection domain [0,1 ..., F-1]
Two fuzzy subsets.The method of description fuzziness has a lot, for example quantity area method, correlation coefficient process, minimax method, absolute
Value index number method, nonparametric method etc..The system select Study on similar degree method in apart from exchange premium degree, wherein setting domain U={ x1, x2...,
xn, to arbitrary fuzzy set A, fuzziness is：
The fuzziness that can calculate target area OR and background area BR by the formula is LBRAnd LOR。
To in confusion regionIt is split into scopeWithIt is added separately to OR and BR
In, gfFor gFRThe partition value of set, obtains two new fuzzy subsets, is designated as OR ' and BR '：
New L is calculated by formula (1)OR′And LBR′.In the case of new element is added in fuzzy subset, its fuzziness letter
Numerical value can become (i.e. L greatlyOR′>LORLBR′>LBR).So, by its respectively with LORAnd LBRNormalize, obtain two ambiguities
The factor, is designated as：
By comparing η1And η2Size, judge gFRAddition be that influence to background or target area is bigger.If η1>
η2, then gFRBigger is influenceed on target area fuzzy subset, i.e., it is higher with target area similarity, so should be by gFRIt is included in background area
The fuzzy set in domain；Conversely, then by gFRIt is included in the fuzzy set for blocking object area.Gray scale to fuzzy region does same processing, then can
There is a certain gray value gd, make η1(gd)=η2(gd), then gdFor segmentation threshold.
(4) intelligent control algorithm
The system proposes a kind of visual pattern target identification method based on fuzzy neural network.This method is with fuzzy system
Based on model, the scene that the target occlusion thing that identification is needed in every frame video image is constituted with background regards a fuzzy system as
System, with the location and shape information of the moving target extracted in each frame as characteristic vector, using this feature vector as fuzzy
The input of clustering neural network (FCNN) system, using fuzzy clustering identification algorithm, builds a kind of light distribution that can be to LED
Fuzzy Clustering Neural Network (FCNN) model mapped, the output to system is predicted, and provides one group in current scene
The optimization control parameter of LED/light source light distribution and position distribution under situation, by adjust LED lamp panel light source exposure intensity and
Angle, realizes the permanent light in irradiation working region, the purpose without shadow.
Fuzzy Clustering Neural Network FCNN structure is as shown in Figure 3.Whole system is made up of two parts：Part I is
Fuzzy Classifier, it is made up of three layers of BP networks.Input layer is made up of P node, P component of correspondence input vector；
Hidden layer is made up of C node, and its i-th of node represents the deviation between input vector and ith cluster center, their transmission
Function is：
Output layer is also made up of C node, and the output of each node represents degree of membership of the input vector to a certain classification.It is defeated
Connection weight between ingress and hidden node represents the cluster centre v of a certain classi, its needs is carried out excellent by learning algorithm
Change；Used between hidden node and output node without weighting connection, its output with each sub-network collectively constitutes third layer node
Input.Part II is made up of C sub- networks, and each sub-network is made up of a double-layer network, connection weight matrix wi=
(wi1, wi2, ..., wiQ)T, wherein wij=(wj0 (i), wj1 (i), wj2 (i)..., wjP (i)), input vector θk=(1, xk1, xk2...,
xkP)T, i-th of sub-network be output as：yi k=wiθk, it completes the consequent output of the i-th rule-like of k-th of input sample
Calculate, system is always output as
System exports ykThe distribution map for providing LED light source array in present image scene is mapped, mapping reflection LED light
Source will could realize that the illumination for making area to be illuminated domain reaches defined value and keeps constant with what kind of Luminance Distribution, while eliminate again
The purpose of workspace shade, exports ykLED/light source driving current and LED lamp panel crevice projection angle will be controlled as regulated quantity, so that
Realize the permanent light of irradiation area, the effect without shadow.
The key technical indexes reached with test oracle after the system is as shown in table 1：
Claims (3)
1. a kind of LED operation shadowless lamp systems of the permanent photocontrol of fully-automatic intelligent, it is characterised in that：It uses video sensor technology
Realize the closed-loop control of illumination region illuminance；The system includes：CMOS camera, ultrasonic range finder, image preprocessing mould
Block, video frame images memory cell, fuzzy video image processing module, intelligent controller, constant-current controller, LED light source component,
Controllor for step-by-step motor unit module；The system obtains the video image in area to be illuminated domain by CMOS camera, pre- by image
Processing module carries out denoising to image and enhancing is handled, the data feeding video frame images memory cell storage after processing, then
Fuzzy video image procossing is carried out, the monochrome information of illumination region is obtained by image processing algorithm and the color of illuminated object is believed
The shelter occurred in breath, and Real-time segmentation processing image, obtains the shadow region of shelter formation, completes above-mentioned processing procedure
Afterwards, intelligent controller will pass through fuzzy neural according to the monochrome information and the colouring information of illuminated object of the illumination region of acquisition
Network extrapolates the driving current value for the LED/light source that need to be adjusted, then by the monochrome information of illumination region and the color of illuminated object
Information is sent to LED constant-current driver, adjusts corresponding LED brightness and colour temperature；
The system also has step motor control interface and intelligentized human-computer interactive control interface, can connect stepper motor pair
The position of LED is controlled, and realizes that illumination spot focuses on working region automatically；It can be set by touch keyboard user simultaneously
Put the mode of operation and customized brightness value of shadowless lamp；
Computer Vision algorithmic procedure based on fuzzy logic is splits by gradation of image to image, for a width m
× n images, its gray level is 0~255, carries out pre-segmentation to image by original partitioning algorithm, background is obtained by pre-segmentation
And target area, limited background and target area pixel are randomly selected, its gray average is calculated with reference to grey level histogram, obtains
ArriveWithRespectively background and target area threshold value, obtain target area OR, fuzzy region and background area BR gray scale
Scope isAndImage is divided into the background area and target area of determination, by background area
Domain and target area are considered as two fuzzy subsets of gray scale collection domain [0,1 ..., F-1], the system select in Study on similar degree method away from
From exchange premium degree, wherein setting domain U={ x1, x2..., xn, to arbitrary fuzzy set A, fuzziness is：
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For：
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Plinth, the scene that target occlusion thing and the background of identification will be needed to constitute in every frame video image regards a fuzzy system as, with every
The location and shape information for the moving target extracted in one frame regard this feature vector as fuzzy clustering nerve as characteristic vector
The input of network (FCNN) system, using fuzzy clustering identification algorithm, structure is a kind of to be mapped LED light distribution
Fuzzy Clustering Neural Network (FCNN) model, the output to system is predicted, and provides one group of LED under current scene situation
Light source intensity is distributed the optimization control parameter with position distribution, by adjusting the light source exposure intensity and angle of LED lamp panel, realizes
Irradiate the permanent light in working region, the purpose without shadow；Fuzzy Clustering Neural Network FCNN structure is made up of two parts：Part I
It is Fuzzy Classifier, it is made up of three layers of BP networks, and input layer is made up of P node, P points of correspondence input vector
Amount；Hidden layer is made up of C node, and its i-th of node represents the deviation between input vector and ith cluster center, they
Transmission function is：
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Connection weight between point and hidden node represents the cluster centre v of a certain classi, it needs to be optimized by learning algorithm；It is hidden
Used between node layer and output node without weighting connection, the output of it and each sub-network collectively constitutes the defeated of third layer node
Enter, Part II is made up of C sub- networks, and each sub-network is made up of a double-layer network, connection weight matrix wi=(wi1,
wi2..., wiQ)T, wherein wij=(wj0 (i), wj1 (i), wj2 (i)..., wjP (i)), input vector θk=(1, xk1, xk2..., xkP)T, the
I sub-network is output as：The calculating of output, system are seen after i-th rule-like of its k-th of input sample of completion
Always it is output as
System exports ykThe distribution map for providing LED light source array in present image scene is mapped, mapping reflection LED/light source will
The illumination that could be realized with what kind of Luminance Distribution makes area to be illuminated domain reaches defined value and keeps constant, while eliminating work again
The purpose of area's shade, exports ykLED/light source driving current and LED lamp panel crevice projection angle will be controlled as regulated quantity.
2. a kind of LED operation shadowless lamp systems of the permanent photocontrol of fully-automatic intelligent according to claim 1, its feature exists
In：Video acquisition processing procedure is：Obtained by USB port camera needs to provide basic I/O in view data, driver
Operate interface function, i.e. open, read, write, close function；Reading the method for view data has two kinds, directly uses
The mode that read reads equipment and maps mmap using internal memory reads data from kernel buffers, is then put into internal memory；
It is exactly that device file is mapped directly in internal memory using mmap method, has got around the buffering area of kernel, each process can
The view data in internal memory is accessed, I/O access is accelerated；The method that system is mapped using mmap obtains camera data.
3. a kind of LED operation shadowless lamp systems of the permanent photocontrol of fully-automatic intelligent according to claim 1, its feature exists
In：Video image preprocessing process carries out enhancing processing by using piecewise linear transform, if f (x, y) represents original image, gray scale
Scope is [a, b], it is desirable to which image g (x, y) tonal range extends to [c, d] after conversion, then grey linear transformation mathematical expression
Formula is as follows：
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2
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| CN106369482A (en) * | 2016-08-31 | 2017-02-01 | 昆山邦泰汽车零部件制造有限公司 | Operation shadowless lamp and use method thereof |
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| CN109655790A (en) * | 2018-12-18 | 2019-04-19 | 天津大学 | Multi-target detection and identification system and method based on indoor LED light source |
| CN110020645B (en) * | 2019-02-11 | 2023-02-21 | 创新先进技术有限公司 | Image processing method and device, computing equipment and storage medium |
| CN110012572B (en) * | 2019-03-25 | 2021-01-15 | 联想(北京)有限公司 | Brightness control method and device, equipment and storage medium |
| CN112040614B (en) * | 2019-06-03 | 2022-12-30 | 广东小天才科技有限公司 | Auxiliary light source-based light supplementing method and intelligent desk lamp |
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